EP3234492A1 - Système et procédé de guidage - Google Patents

Système et procédé de guidage

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Publication number
EP3234492A1
EP3234492A1 EP15828668.2A EP15828668A EP3234492A1 EP 3234492 A1 EP3234492 A1 EP 3234492A1 EP 15828668 A EP15828668 A EP 15828668A EP 3234492 A1 EP3234492 A1 EP 3234492A1
Authority
EP
European Patent Office
Prior art keywords
light
pattern
platform
cross
guidance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15828668.2A
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German (de)
English (en)
Other versions
EP3234492B1 (fr
Inventor
Tsafrir Avni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Israel Aerospace Industries Ltd
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Israel Aerospace Industries Ltd
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Filing date
Publication date
Application filed by Israel Aerospace Industries Ltd filed Critical Israel Aerospace Industries Ltd
Publication of EP3234492A1 publication Critical patent/EP3234492A1/fr
Application granted granted Critical
Publication of EP3234492B1 publication Critical patent/EP3234492B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/24—Beam riding guidance systems
    • F41G7/26—Optical guidance systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/24—Beam riding guidance systems
    • F41G7/26—Optical guidance systems
    • F41G7/263—Means for producing guidance beams

Definitions

  • the present invention is in the field of guidance techniques for guiding maneuvering platforms from afar towards a destination, and particularly relates to guidance techniques based on optical signals.
  • Optical guidance is a widely used technique for guiding and navigating remote and typically blind, vehicle platforms towards a target destination.
  • GB 1315351 discloses a method of determining the co-ordinates which an object has in a cross-section of a beam of EM radiation in relation to the axis of the beam.
  • the method is applicable to the control of a flying object being steered along a guiding beam.
  • the beam is produced and transmitted in such a way that any cross-section thereof normal to its axis is an identical projection of the same transmitted image, each component of which provides measurement data corresponding to the coordinates of that component relative to the beam axis.
  • the co-ordinates of the object in the beam can be evaluated by the object itself from the data.
  • a modulation disc rotating in front of a radiation source produces the image to be projected, components of the image corresponding to values of modulation of the beam and providing the data.
  • a projector forms a radiation source for image projection.
  • the radiation is bunched and projects the modulation disc, as an image.
  • An optical mirror system projects the image in such a way that each cross-section of the beam contains an identical image.
  • the modulation disc may be circular with transparent slots and opaque webs. If the flying body deviates from the beam axis, the measurement data in the image components are used to provide control signals which are fed to the steering gear of the body.
  • the optical image projection system may contain infra-red filters to allow steering of the body by infra-red. To prevent the flying body from deviating further from the beam axis as it moves away from the launch site, the bunching of the radiation is varied.
  • the invention may also be applied to assist the landing of an aircraft when the latter is steered along the beam axis to the landing strip.
  • US4096380 discloses a system for transmitting light signals between a missile and a missile control launching site by utilizing a laser beam light signal transmission path.
  • the system comprises a laser emitter having a relatively broad transmission beam for producing a transmission path for the modulated light signals during the flight of the missile.
  • the system obviates the need for light transmission lines or other physical connection between the missile and the control station and provides for continuously aiming the laser beam on the missile by means of a follow-up device responsive to a portion of the beam reflected from the missile.
  • At least one crown of triple mirror reflectors is distributed about the axis of the missile to enable the missile to reflect the laser beam impinging thereon independently of the flight position of the missile.
  • the laser beam is modulated to transmit control light signals from the control station and information light signals from the missile.
  • US4243187 discloses a line of sight guidance system in which the radiated output of a pulsed laser is spatially modulated to produce a beam radiated from an optical projector along a first axis, including a missile or projectile carrying a beam receiver and signal decoder which receives and decodes information in the beam to enable the missile to seek a beam center, with an apparatus for generating a lead angle axis reference for the missile.
  • the basic technique comprises FM modulating the rotational rate of an orbitally driven projected beam chopping spoked reticle.
  • the FM modulation amplitude is chosen to equal the magnitude of the desired angular change of the projected spatially coded axis, while the FM modulation phase is made to equal the direction in which the projected spatially coded axis is shifted.
  • the receiver at the missile interprets the image of the reticle pattern as if the receiver were displaced from the un-modulated first axis position in a direction from the beam center as indicated by the modulation phase. Since the missile is controlled to the beam axis center, it follows the coded axis shift.
  • US5560567 discloses a method and apparatus for passive tracking and guidance in missile systems.
  • the system is utilized in conjunction with a target acquisition system such as a scanning infrared detection system.
  • the target and missile are sensed and the measured displacement there between is utilized in conjunction with calculated nominal trajectory data to generate guidance control signals.
  • the guidance control signals are transmitted to a receiver on the missile utilizing a radar frequency transmitter.
  • US5533692 discloses a beam of electromagnetic radiation which is spatially encoded using a digital phase modulation technique.
  • the spatial encoding defines the beam cross section into a series of resolution elements each identified by a different digital code.
  • the codes defining resolution elements are detectable by a missile located in the radiation beam and can be used to define the location of the missile in this beam.
  • an encoding mask moved through the beam at its source, provides digital phase modulation.
  • the mask is provided with a series of bit areas, each of which bears at least two sets of cyclically recurring bands effective to modulate a detectable parameter of the radiation, such as intensity.
  • the spacing between adjacent bands of a set termed a bit cycle, is proportional to a predetermined phase of the modulation of the beam parameter.
  • the novel arrangement enables the missile to identify its position within the beam under conditions of severe atmospheric turbulence and object induced perturbations to provide corrective maneuvers for maintaining the missile velocity vector aligned with the beam.
  • Conventional optical guidance systems operate to transmit optical beams along a line of sight towards the platform while utilizing spatial opto-mechanical masks/reticles which modulate the optical beams to encode control signals for guiding the platform which receives the optical beam.
  • optical guidance systems utilizing masks to encode spatial light patterns in the light beam
  • the gimbals use the gimbals to adjust the direction of the light beam propagation to control the part of the spatial light pattern captured by the platform in accordance with a position of a target towards which the platform is guided.
  • mechanical stabilization e.g.
  • gimbal-based modules are utilized, which direct and stabilize the optical axis of the output light beam carrying the spatial light pattern towards the platform.
  • mechanical stabilization modules are generally cumbersome (heavy and/or large and or/require more power consumption and require more components) which restricts the ability to configure such systems as portable systems to be carried by personnel.
  • using the mechanical masks to apply temporal encoding of navigation information in the light beam may yield temporal patterns extending over relatively long durations (e.g. in the time scale of milliseconds to nanoseconds) which may not be suitable for use with agile optical guidance systems used for guiding agile platforms which move with high speeds/accelerations and/or which are designed for tracking agile targets.
  • the present invention is directed to solving at least some or all of the above described deficiencies of conventional techniques. This is achieved by providing a novel guidance system and method for remote guidance of platforms (e.g. remote vehicle/unmanned platforms) used towards a target destination (e.g. target location/path/object), by directing to the platform(s) to be guided, an optical beam encoded with guidance information for guiding the platform(s).
  • platforms e.g. remote vehicle/unmanned platforms
  • a target destination e.g. target location/path/object
  • the system of the invention utilizes a spatial light modulator (SLM) placed in an optical path of an optical beam that is directed towards the platform.
  • SLM spatial light modulator
  • the SLM is operated to encode guidance information on the optical beam such that the platform can be navigated in a controlled course towards the target destination by detecting at least a cross-sectional region of the light beam and decoding a portion of the guidance information encoded therein to determine guidance instructions for navigating towards the target.
  • the system and method of the invention allow simultaneous guidance of a plurality of platforms towards the target destination.
  • the present invention overcomes certain prominent deficiencies of conventional techniques as it permits versatile encoding (digital encoding) of a large variety of light patterns in the light-beam (e.g. spatial, temporal and/spatiotemporal patterns may be used according to the invention to encode the guidance information), while maintaining that the guidance system is relatively compact (no additional masks are used to provide the large variety of patterns).
  • the SLM may be operated according to the present invention to stabilize the pattern it encodes on the light beam thus possibly obviating or at least reducing a need for using mechanical stabilizers (gimbals) to stabilize the output light beam.
  • the pattern may be dynamically varied (laterally-shifted/scaled) in accordance with the position/distance of the platform, thereby improving the accuracy of the pattern reception at the platform.
  • the SLM may be operated to dynamically switch between different programmable spatial patterns at a fast rate and/or to form temporal patterns with high data rates.
  • the different programmable spatial patterns may be programmed/designed in real time, and/or they may be selected from preprogrammed set of masks.
  • the selected patterns may be designed to deal with various scenarios. For instance, pattern smearing artifacts, may be avoided/reduced by laterally "shifting" a pattern dynamically according to some movements of the system.
  • This may involve real time processing associated with the generation of a new/modified (e.g. shifted) pattern from default pattern stored in memory. Also, by the dynamic switching between patterns may be used to encode various commands (e.g. return-to-base/cancel-mission commands and/or any other command that are not part of the guidance instructions set.
  • various commands e.g. return-to-base/cancel-mission commands and/or any other command that are not part of the guidance instructions set.
  • the guidance system includes a light module (i.e. including a light source, typically laser), a spatial light modulator (SLM, such as a liquid crystal module (LCoS) or mirror array (DMD / MEMS scanning mirrors) placed in an optical path of light beam emitted from the light source, an optical output portion directing the light beam towards the platform, and a controller.
  • a light module i.e. including a light source, typically laser
  • SLM spatial light modulator
  • LCD liquid crystal module
  • DMD / MEMS scanning mirrors mirror array
  • the controller which may be implemented by using analogue and/or a digital processing circuit, although typically it is implemented digitally by utilizing digital/computerized processor(s)) and is configured and operable for obtaining data indicative of guidance information for navigating the remote platform towards said target destination, and operating the SLM to encode the guidance information on the light beam.
  • This thereby enables navigation of the platform to the target.
  • the platform may detect at least a cross-sectional region of the light beam and decode a portion of the guidance information encoded in the detected cross-sectional region to determine guidance instructions for navigating it towards the target destination.
  • the controller is adapted to operate the SLM to encode the guidance information in light patterns including at least one of spatial light pattern formed in the cross-section of the light beam, and a temporal light pattern in the light beam. More specifically, in certain embodiments the light pattern is a spatiotemporal pattern.
  • the controller in such embodiments operates the SLM to define a plurality of spatially distributed cross- sectional regions within a cross-section of the light beam and to define distinguishable temporal light patterns in these regions respectively by temporally modulating light intensities in these regions with distinguishable temporal modulation patterns, which are indicative of respective guidance instructions for navigating the remote platform, when it is exposed to any one of them, towards the target destination.
  • the platform may determine the guidance instructions by:
  • the distinguishable temporal light patterns may be respectively indicative of locations of the cross-sectional regions associated therewith with respect to the cross-section of the light beam. Accordingly, determining the guidance instructions may include utilizing (processing/decoding) the respective temporal modulation pattern to determine the location of a cross-sectional region within the cross-section of the light beam and determining the guidance instructions based on that location.
  • the temporal modulation pattern in the regions of the light beam also encode at least one additional data piece relating to said guidance information.
  • the additional data piece may include data indicative of a degree of convergence of motion path of said platform towards the target.
  • the controller is adapted to operate the SLM to spatially modulate light intensities in the plurality of spatially distributed cross-sectional regions within the light beam such as to form a spatio- temporal pattern in the light beam.
  • the controller is adapted to obtain distance data indicative of a distance between the platform and an optical output of the guidance system, and obtain data indicative of a degree of collimation of the light beam.
  • the controller then operates the SLM to modify a scale of the spatial light pattern based on the distance data and the degree of collimation to thereby compensate for divergence of the light-beam when it propagates to the platform.
  • the controller is adapted to obtain optical path data including at least one of: stabilization data indicative of deviation of an optical path of said light beam from a nominal optical path along which the light beam should be projected to navigate the platform to the target; and
  • target position data indicative of a position of the target destination (the direction/orientation of the nominal optical path itself maybe associated with and determined by the target position);
  • the controller is adapted to operate the SLM to modify the spatial light pattern by laterally shifting it within the cross-section of the beam based on the optical path data, and thereby compensate for at least one of the deviations of the optical path and changes in the position of the target.
  • the guidance system of the present invention may include inertial sensors capable of sensing the motion of the guidance system.
  • the controller may be adapted to obtain the stabilization data at least partially from the inertial sensors.
  • the guidance system may be associated with or include a tracking camera operable for tracking the target.
  • the controller may be adapted to obtain the target position data at least partially based on motion/position of the target detected by the tracking camera.
  • the light pattern is a spatiotemporal pattern spatially distributed in a plurality of cross-sectional regions of the light beam, each of the regions being temporally modulated with a respectively distinguishable temporal modulation pattern.
  • the maximal time duration of the temporal modulation patterns is shorter than a characteristic time interval between consecutive modifications of the lateral position of the spatial light pattern (within the beam cross-section), based on the optical path data. This thereby enables a detection module exposed to a certain cross-sectional region of the light beam to identify a temporal light pattern modulating that region.
  • the guidance system also includes an optical assembly adapted for directing the light beam towards the platform.
  • This may, for example, include a beam collimator adapted to adjust a degree of collimation of the light beam (e.g. to collimate the light beam), and/or a beam expander adapted to expand the light beam such that a cross-sectional width of the light beam reaching the platform is substantially greater by one or more orders of magnitude from lateral dimensions of a light detector mounted on the platform.
  • Some embodiments of the present invention also provide a guidance detection module adapted to be furnished on the platform.
  • the guidance detection module may or may not be part of the guidance system.
  • the guidance detection module includes an optical sensor adapted to detect at least one cross-sectional region of the light beam transmitted by the guidance system, and a control unit connectable to the sensor and adapted to carry out the following:
  • optical sensor is used herein to refer to any light sensitive sensor/detector which may be an image sensor comprising plurality of light sensitive pixels (hereinafter also referred to interchangeably as pixels or light detectors) or a non-imaging sensor that includes only one or few light sensitive regions (e.g. a light detector including a single pixel).
  • the term pattern is used herein to designate a light pattern which may include at least one of, a spatial light pattern, a temporal light pattern, or both (in which case it is also referred to specifically as spatio-temporal pattern).
  • Such light pattern may be carried by a structured light beam/signal and formed by spatially and/or temporally distributed light portions of the light beam.
  • the spatial and/or temporal light pattern may be formed in the light beam by spatial and/or temporal modulation of the light beam respectively, for example by using the SLM to apply such spatial and/or temporal modulations.
  • the light pattern in the light beam is a spatiotemporal pattern spatially distributed in a plurality of cross-sectional regions of the light beam.
  • Light in said plurality of cross-sectional regions is temporally modulated with respectively distinguishable temporal modulation patterns.
  • the control unit is therefore adapted to identify temporal modulation pattern in the detected cross-sectional region, and determine guidance instructions based on such temporal modulation pattern.
  • the sensor of the guidance detection module may include only one sensor light sensitive pixel (i.e.
  • the lateral dimensions of the light sensitive pixel/detector are generally substantially smaller than lateral dimensions of the cross-sectional region which is to be detected by the platform, thereby providing that the light sensitive pixel/detector senses the temporal light modulation pattern from substantially a single one of the cross-sectional regions thereby. This enables to accurately and unambiguously determine/identify the temporal light modulation pattern modulating that region.
  • the duration/period of the temporal modulation pattern is typically made substantially shorter than a characteristic time interval between consecutive modifications of lateral position and/or scale of the spatiotemporal light pattern (whose modifications are carried out for example to compensate for deviations of the optical path and/or changes in the position of the target).
  • the light sensitive pixel is operated with an integration time substantially shorter than duration of the temporal modulation pattern (and more specifically in the order of, or below, the time duration of a minimal temporal feature in that pattern). That is, the integration time is shorter by an order of magnitude or more than the characteristic time interval at which consecutive modifications of lateral position and/or scale of the spatiotemporal light pattern are sought/possible by the system.
  • the guidance system is configured and operable to transmit the light beam to propagate to the platform with cross-section lateral dimensions that are two or more orders of magnitude larger than lateral dimensions of the platform. More specifically, lateral dimensions of the light beam reaching the platform are set to be larger than the nominal/typical distance between two or more co-driven platforms driven in a structure. This enables simultaneous guidance of a plurality of platforms towards the target. Alternatively or additionally transmitting the light beam to propagate to the platform with cross-section lateral dimensions that are one or more orders of magnitude larger than lateral dimensions of the platform may be used for permit dynamic shifting of the pattern inside the guidance light beam so as to compensate of instability of the guidance light beam and/or to use such shifting for guiding the platform to the target.
  • each of the co-driven platforms may be exposed to a respective spatial region in the light beam which carries temporal modulation patterns encoding respective guidance instructions to guide it to the target.
  • Such temporal modulation patterns may for example encode data indicative of a direction of the target with respect to a platform being exposed to that region, and at least one additional data piece indicative of a desired degree of convergence of motion path of the platform towards the target. The additional data piece enables to avoid collisions between the plurality of platforms when they approach the target.
  • a method for remote guidance of a remote platform towards a target destination includes:
  • SLM spatial light modulator
  • the method includes operating the SLM to form a spatiotemporal pattern encoding guidance information on the light beam.
  • the spatiotemporal pattern may be formed by operating the SLM to spatially and temporally modulate light intensities in the plurality of spatially distributed cross-sectional regions in the pattern.
  • the spatiotemporal pattern includes:
  • a spatial light pattern defining a plurality of spatially distributed cross-sectional regions within a cross-section of said light beam
  • Distinguishable temporal light patterns formed in said regions respectively by temporally modulating light intensities in the regions of the light beam with temporal modulation patterns, the distinguishable temporal light patterns being indicative of respective guidance instructions for navigating the remote platform, when exposed to any one of the temporal light patterns, towards the target destination.
  • the temporal light patterns may be respectively indicative of at least locations of the cross-sectional regions associated therewith, with respect to the cross-section of the light beam.
  • the guidance instructions may be determined by a platform exposed to one of these cross-sectional regions based on one of its locations, as encoded in the temporal modulation pattern in that region.
  • the method also includes providing distance data indicative of a distance towards the platform, and data indicative of a degree of collimation of the light beam, and operating the SLM to adjust a scale of the spatial light pattern based on the distance data and the degree of collimation so as to compensate for divergence the light-beam propagating to the platform.
  • Stabilization data indicative of deviation of an optical path of said light beam from a nominal optical path along which said light beam should be projected to navigate said platform to said target
  • Target position data indicative of a position of the target, from which said nominal optical path can be determined.
  • the method also includes operating the SLM to adjust a lateral position of the spatial light pattern within the cross-section of the light beam based on the optical path data, to compensate for at least one of the deviations of the optical path and changes in the position of the target.
  • the maximal time duration of the temporal modulation patterns is shorter than a characteristic time interval between consecutive adjustments of lateral position and scale of the spatial light pattern.
  • the cross-sectional lateral dimensions of the light beam are two or more orders of magnitude larger than lateral dimensions of the platform (e.g. larger than a typical distance between adjacent co- driven platform) thereby enabling simultaneous guidance of a plurality of platforms towards the target.
  • the method may include encoding in the distinguishable temporal modulation patterns at least one additional data piece, which is indicative of a desired degree of convergence of motion path of the platform towards the target (to avoid collisions between a plurality of platforms co-driven simultaneously to approach the target).
  • the method includes determining the guidance instructions at the platform by:
  • the temporal modulation pattern may for example encode the location of the cross-sectional region within the cross-section of the light beam (which is indicative of the direction from the platform to the target) and it may also encode at least one additional data piece (e.g. data indicative of a desired degree of convergence of motion path of the platform towards the target).
  • the distinguishable temporal light patterns formed in each spatial cross-sectional region of the beam are purely temporal patterns (with no spatial features encoding guidance information within the regions themselves). Accordingly the guidance instructions may be determined from each of the temporal light patterns by detection using an optical sensor including a single light sensitive pixel.
  • Fig. 1 is a block diagram illustrating a guidance system according to an embodiment of the present invention
  • Figs. 2A to 2F are schematic illustrations exemplifying the operation of the guidance system of the invention in various positions of a platform to be guided thereby with respect to its optical axis, wherein Figs. 2B, 2D and 2F are perspective views showing the optical beam directed from the guidance system to the guided platform; and 5 corresponding Figs. 2A, 2C and 2E show a light pattern formed in the spatial light modulator of the guidance system of the invention at each of the states of Figs. 2B, 2D and 2F respectively;
  • Figs. 3A and 3B illustrate two examples of spatiotemporal patterns/modulations, showing optical beams which can be used according to the invention for guiding a 10 platform to a target;
  • Fig. 3C is a table depicting the temporal modulation patterns of each spatial region in the patterns illustrated in Figs. 3A and 3B and the codes encoded therein for navigating the platform.
  • Fig. 1 is a block diagram illustrating a guidance system 100 according to an embodiment of the present invention.
  • the guidance system 100 is configured and operable to carry out the operations of the method described above and further described in more detail below, to remotely guide a remote platform
  • the guidance system 100 includes a light module comprising a light source 110, such as a laser (e.g. infrared laser), and a spatial light modulator (SLM) 120, such as a liquid crystal based modulator (e.g. LCoS) and/or digital mirror device (DMD) and/or MEMS scanning mirror.
  • a light source 110 such as a laser (e.g. infrared laser)
  • SLM spatial light modulator
  • LCoS liquid crystal based modulator
  • DMD digital mirror device
  • MEMS scanning mirror MEMS scanning mirror
  • the light source 110 generates a source optical beam ILB.
  • the SLM 120 is positioned in an optical path of the optical beam LB and is adapted and operated to modulate the optical beam to form a modulated optical beam MLB patterned with pattern PT encoding desired information in the beam.
  • the system 100 also includes an optical assembly 130 operable
  • the optical assembly may be placed along the optical path of the beam LB before or after SLM 120 and/or it may be distributed along the optical path before and after the SLM 120. Accordingly the optical assembly may form the optical beam OLB output from the system 100 such that it has desired shape and divergence angle.
  • the optical beam LB exists in an optical output portion 138 of the guidance system 100 from which it propagates in free space in the direction of one or more remote platforms 170 (a single platform is depicted in the figure).
  • the optical beam LB propagating to the platform 170 is therefore modulated/patterned by the SLM 120 to encode desired guidance information and is shaped by the optical module to have desired shape, divergence (collimation degree), and/or direction.
  • the system 100 may also include a stabilization module 150, including for example inertial sensors (e.g. gyros and/or accelerometers built-in the system 100) and/or other suitable stabilization monitoring modules (e.g. external stabilization monitoring modules), capable of monitoring movements of the system 100 (e.g. small scale vibrations and/or displacements and/or rotations of the system) and generating data/signals SD indicative of such movements.
  • the controller 140 may be adapted to obtain the stabilization data SD (e.g. sensed by said inertial sensors) and use it when operating the SLM to spatially stabilize the pattern PT which is formed thereby, and to thereby compensate for the movements of the system 100.
  • system 100 includes a controller 140 configured and operable for obtaining data indicative of guidance information for navigating the remote platform 170 towards the target destination 180.
  • the target destination 180 may be a target location, to which the platform should reach, and/or a target path to which the motion path of the platform should converge, or a target object to which the platform should be directed.
  • the controller is configured and operable to operate the SLM 120 to encode the guidance information in a light pattern PT in the optical beam LB and thereby enable the platform 170 to navigate to the target 180 by detecting at least a cross- sectional region (e.g. R2) of the light beam and decoding a portion of the guidance information encoded in the detected cross-sectional region R2 and processing to utilizing/processing the decoded portion of the guidance information to determine guidance instructions for navigating the remote platform 170 towards the target destination 180.
  • a cross- sectional region e.g. R2
  • the system 100 may optionally include or be associated with a target tracking system 152 (target tracker), such as a radar, a satellite based positioning system, a camera, a tracking device installed on the target 180, and or any other suitable tracking system which is capable of monitoring the position/path of the target 180 and providing communicating data indicative of the same to the controller 140.
  • the system 100 may generally also include or be associated with a platform tracking system 154 (platform tracker), which may also be a radar, a satellite based positioning system, a camera, a tracking device installed on the platform 170, and or any other suitable tracking system 5 capable of monitoring the position/path of the platform 180 and providing communicating data indicative of the same to the controller 140.
  • Each of the target tracker 152 and the platform tracker 154 may be included in the system 100 and/or it may be located remotely from the system.
  • the controller may communicate with the target tracker 152 and the platform tracker 154 to obtain respectively obtain target and
  • platform positioning data TD and PD indicative of the respective positions and possibly also velocities of the target 180 and platform 170.
  • the controller 140 may process this data TD and/or PD to determine guidance information for the platform 170 (e.g. a course along which to direct/navigate/guide the platform 170 towards the target 180).
  • controller 140 is adapted to operate said SLM 120 to
  • the pattern PT may be a spatial pattern formed in a cross-section of said beam, and/or a temporal light pattern formed in the light beam.
  • the platform 170 is equipped with a guidance detection module 171 adapted to be furnished on the platform.
  • the guidance detection module includes an optical sensor 172 adapted to detect at least a portion of
  • the optical beam LB and control unit 174 connectable to the sensor 172 and adapted to identify at least a portion (e.g. PPT 2 ) of the pattern PT encoded in the portion of the optical beam LB detected by the sensor 172, and to decode that portion PPT 2 of the pattern, and thereby determine navigation instructions for steering the platform towards the target 180.
  • the platform generally also includes steering modules 176, and the
  • control unit 174 is adapted to operate the steering modules 176 in accordance with the determined navigation instructions so that the platform is steered to the target.
  • the sensor module 172 may include a single light sensitive pixel/detector or a few pixels and may be exposed to only a fraction (e.g. PPT 2 ) of the cross-section of the optical beam LB.
  • the control unit 174 connectable to the sensor
  • the optical beam LB is encoded with a spatial pattern defining a plurality of cross-sectional regions, Ri to R restroom, in the light beam cross-section wherein each region is modulated temporally or spatially to form therein respective fractions PPTi to PPT transit of the pattern PT.
  • the SLM is operated to define/scale the cross-sectional regions, Ri - R restroom, of the light beam such that when any one of them (e.g.
  • the lateral dimensions W are generally substantially wider than the width and height dimensions of the sensor 172 (according to some embodiments of the present invention the lateral dimensions W are substantially wider by one or more orders of magnitude than the platform itself and/or are in the order of/greater than a minimal nominal distance allowed between adjacent co-driven platforms, such that the optical beam can be used to simultaneously navigate a plurality of co-driven platforms to the target). Accordingly the sensor 172 is exposed substantially to only one of the cross- sectional regions of the light beam. In general the light in each cross-sectional region (e.g.
  • this data includes at least location data LD indicative of the location of its respective cross-sectional region of the portion PPT2 with respect to a certain reference position CP (e.g. the center) within the cross-section of the pattern PT that is defined in the beam LB.
  • reference position CP is considered at the center of the pattern PT, although it may generally be set to any other position.
  • control unit 174 obtains from the sensor 172 sensory data/signals indicative of the portion (e.g. PPT2) captured/sensed by the sensor, and processes/decodes this data to determine the location data LD encoded in the sensed portion PPT2 of the pattern PT.
  • the location data LD may be indicative of one or two dimensional displacements (in arbitrary units, for example in units of distance or unitless) between the cross-sectional region (e.g. R2) at which the pattern portion (e.g. PPT2) is encoded and the reference position is CP.
  • control unit 174 utilizes coding reference data/relation RD (e.g. a lookup-table (LUT) and/or a function stored for example in a memory associated with the controller 174), to decode the portion (e.g. PPT2) of the pattern received by the sensor 172 and determine therefrom the location data LD indicating the position of that portion within the pattern PT, and/or directly determining the steering/navigation instructions based on the identified pattern and the reference data.
  • the reference data may be a LUT associating various possible patterns which can be identified by the control-unit 174 with corresponding guidance instructions indicated in these patterns, and/or with their respective displacement from the reference position CP.
  • control unit 174 decoding the portion PPT2 of the pattern may use the LUT to directly determine the steering instructions, or it may use the LUT to determine the location data and further process the location data LD to determine steering instructions to navigate the platform 170 to the target 180 based on the displacement indicated by the location data LD.
  • the one or two dimensional displacements may be indicative of the one or two dimensional steering instructions.
  • the controller may be adapted to continuously steer the platform so as to minimize the displacement between the cross-sectional-region/pattern it receives by the sensor and the reference position CP, and thereby navigate the platform 170 to the target.
  • the location data encoded in the portion PPT2 of the pattern may indicate a one dimensional displacement from the reference position CP in the pattern PT.
  • the platform is driven within a three dimensional volume (e.g.
  • the control unit 174 respectively determines guidance/steering instructions to operate the one/two dimensional steering modules 176 of the platform 170.
  • Certain embodiments of the invention are designed to operate for navigating remote platforms 170 located at long distances (e.g. in the order of kilometers) from the system 100.
  • This poses several issues relating to location of the pattern PT within the beam BL and the size/lateral- width/height Sz of the pattern PT projected by the system (and the sizes of its respective cross-sectional regions Ri-Rniz), when they reach the remote platform 170, and how to optimize/manage these parameters under constraints associated with the movement stability of the system 100 (e.g. changes in position and/or orientation of the light beam BL output from the optical output 138) and the divergence of the optical beam LB to allow accurate and reliable detection and identification of the correct pattern portion (e.g. PPT 2 ) by the platform 170 so that the correct navigation/guidance instructions are decoded by the platform 170.
  • the correct pattern portion e.g. PPT 2
  • the optical beam LB is projected with a suitable cross-sectional width/diameter and/or with a suitable divergence angle such that when it reaches the remote platform 170 the pattern portions PPTi - PPT gate of the pattern PT carried by the beam LB are each sufficiently wide laterally (e.g. their respective cross-sectional regions Ri - R mich of the beam LB are wide enough) so even tolerable stabilization constraints of the system 100, and the sensor of the platform 170 remain mostly covered/illuminated by the same cross-sectional regions (e.g. R 2 ), thus the mostly constantly "seen" same/correct pattern portion (e.g. PPT 2 ), when decoded, provides the correct guidance/steering information to guide the platform to the target 180.
  • a suitable cross-sectional width/diameter and/or with a suitable divergence angle such that when it reaches the remote platform 170 the pattern portions PPTi - PPT gate of the pattern PT carried by the beam LB are each sufficiently wide laterally
  • the system 100 may be exposed to vibrations and/or movements and/or rotations which induce deviations in the beam's direction.
  • the system may include mechanical stabilization assemblies such as gimbal-based stabilization configured to at least partially stabilize the beam BL.
  • mechanical stabilization systems are typically cumbersome and also in some cases do not provide full compensation and stabilization over the beam's movement.
  • ⁇ is the desired tolerance to the actual/residual angular deviations of the beam BL, which is obtained after the beam BL, is stabilized by mechanical stabilizers and/or in cases where the beam is not stabilized mechanically.
  • Ls is to about ⁇ 1.75 meters (which is lkM times Tan(0.1°) ).
  • the lateral dimensions of the pattern portion PPT 2 when reaching the platform 170 should be in the order of (e.g. twice or more) the size/lateral dimensions of the lateral/sideway shifting of the pattern due to the vibrations/movement of the system 100.
  • the size/width W of each of the pattern portions PPTi - PPT greenhouse should be about 3.5 meters or more when reaching the platform.
  • the entire pattern PT formed in the optical beam LB includes at least a few such pattern portions (e.g. KxL pattern portions) and its lateral extent Sz is even wider when it reaches the platform 170.
  • the system 100 may include an optical assembly 130 adjusting the beam LB properties (width and/or divergence and/or shape) before it exits the optical output 138 and propagates in free space to the platform 170.
  • the optical assembly 130 may include a beam expander 134 adjusting the width of the beam LB outputted from the optical output 138 to a desired width, and/or it may include a beam collimator 132 adjusting the divergence of the beam LB outputted from the optical output 138.
  • the beam expander 134 and/or the beam collimator 132 are configured and operable to adjust the shape of the beam such that the cross-sectional regions Ri - R matter reach the platform with sufficient width, allowing the platform to detect and decode their respective pattern portions PPTi - PPT matter.
  • the beam expander may be adapted to expand the light beam LB such that its cross-sectional width, when it reaches the platform, is substantially greater, by one or more orders of magnitude, from lateral dimensions of a sensor 172 mounted on the platform 170.
  • the beam expander 134 and/or the beam collimator 132 may be static optical modules having fixed optical properties and/or they may be controllable/adjustable modules, whose optical properties can be controlled by the controller 140, for example in accordance with the distance of the platform from the system and the required stability tolerance of the system 100 (e.g.
  • the latter may be dynamically determined by the controller 140 by monitoring the rate and/or magnitude of the system's vibrations/movements for example by receiving stabilization data SD indicative of changes in position and/or orientation of the light beam BL the stabilization module 150). It should be noted that in some embodiments, in which a compact and lightweight system 100 is sought, it may be preferable that some or all of the optical modules in the optical assembly 130 are static modules, having generally smaller form factor and weight.
  • the controller may manipulate/modify the pattern projected by the SLM so as to compensate for a need to optically adjust the width and/or collimation of the beam by the beam expander 134 and/or collimator 132 and thereby enable to obviate the need to use controllably adjustable beam expander 134 and/or beam collimator 132.
  • Such manipulations of the pattern projected by the SLM are described in more detail below.
  • the optical assembly 130 may be configured to output the light beam LB such that it is un-collimated and divergent when propagating to the platform.
  • This provides that the optical output 138 may remain compact (e.g. with a radius in the order of centimeters) while the cross-section of the beam LB becomes sufficiently wide (e.g. in the order of meters or more) when reaching the platform 170 so that the platform decodes its information reliably.
  • the controller 140 is configured and operable to manipulate the pattern PT projected by the SLM so as to improve the system's accuracy in navigating the platform 170 to the target 180.
  • the platform may be directed to the target with distance accuracy matching/corresponding to the lateral dimensions W of the pattern portions PPTi - PPT route (namely corresponding to the lateral dimensions of the pattern portion the platform detects). This is because the guidance instructions cannot be received by the platform 170 with spatial resolution higher that the resolution of the pattern portions encoding them.
  • one of the objectives of manipulating the pattern PT by the controller is to reduce the size/lateral dimensions W of the pattern portions reaching the platform, thereby improving the spatial resolution of the pattern portions, and accordingly the spatial resolution of the navigation instructions towards the target 180.
  • the size Sz of the pattern PT and accordingly of its constituent pattern portions PPTi - PPT project are restricted from below by stabilization constraints/tolerances that the system 100 should endure, and by the fact that optical beam LB is typically made divergent (not collimated) in order to facilitate compactness of the system 100 therefore resulting in the beam's cross-section and accordingly the spatial lateral dimensions of the pattern PT carried thereby, diverging/growing as the platform 170 advances towards the target and its distance from the system 100 grows.
  • the controller is adapted to manipulate the pattern projected by the SLM 120 to digitally compensate for movement of the system 100, and thereby allow projection of smaller pattern PT including smaller pattern portions PPTi - PPT matter.
  • the pattern PT is projected with fixed position with respect the beam axis OX, (e.g. for example in case the reference position CP of the pattern is fixed on the beam axis OX) this will result in corresponding shifting of the pattern by the same magnitude of lateral/sideways deviations.
  • the controller 140 is connectable to the stabilization module 150 and is adapted to receiving, therefrom, stabilization data SD indicative of the movement of the system 100.
  • the controller processes the stabilization data to estimate the lateral shift in the position of the beam axis from its nominal position at the distance/location of the platform 170, and utilizes the estimated lateral shift of the beam axis to determine how to modify the pattern projected by the SLM to at least partially compensate for such a lateral shift.
  • the raw diameter/pupil of the beam that is produced by the light source 110 and passed through the SLM 120, as well as the SLM 120 itself are wider than the actual width of the spatial pattern that is formed in the SLM 120 to filter the beam LB. Accordingly, the controller 140 receiving the stabilization data SD may shift the pattern formed by the SLM to at least partially compensate for motions/vibrations of the system.
  • the diameters of the beams LB (the diameter of the raw beam should be denoted without considering the spatial filtering effect of the SLM) and of the PT as a function of distance Z from the system 100 by CIR(Z) and dp(Z) respectively.
  • the optical axis OX of the beam LB will be shifted sideways (e.g. vibrations of the system 100) by about ⁇ 8.7 meters. That is more than sufficient to compensate and tolerate vibrations up to ⁇ .
  • the controller 140 obtains optical path data (not specifically illustrated in the figure) including at least one of:
  • - stabilization data SD indicative of deviation of an optical path/axis OX of the light beam from a nominal optical path (which may be considered in the present example to coincide with the arrow designating the reference position CP in the figure) along which the light beam should be projected to navigate the platform to the target; and target position data TD indicative of a position of the target destination (the direction/orientation of the nominal optical path (e.g. considered here to coincide with CP) may be determined by the target position).
  • the controller 140 may be connectable to the stabilization module 150 to receive therefrom data indicative of the actual displacement of the optical axis OX of the beam BL from its nominal position. Denoting such data for example by the angle ⁇ ', the controller is adapted to modify the pattern PT projected by the SLM so as to compensate for the displacement ⁇ ' in the beam axis. Considering the above calculations, providing such correction may be achieved for example by laterally shifting the pattern in the SLM 120 to counteract and compensate the angular shift ⁇ ' in the optical axis OX.
  • the SLM is operated to provide dynamic digital stabilization of the pattern that is projected by the beam thereby enabling to totally obviate mechanical beam stabilization assemblies and/or the SLM may be used to further improve mechanical stabilization provided by less accurate mechanical stabilization assemblies which are less cumbersome.
  • the pattern in the SLM is also shifted in accordance with changes in the position of the target 180 so as to navigate the platform 170 to the target 180 while the latter moves.
  • the platform 170 may obtain the target's position from the target tracker 152 and operate the SLM 120 to laterally shift the pattern formed thereby by a lateral shift Sft corresponding to the change in the target's position, such that the platform 170 will sense a different pattern portion indicative of the correct navigation instructions towards the target.
  • the shift Sft in this case may be integer multiples of at least half the lateral dimension of the pattern portions PPTs so that the platform is exposed to a different pattern portion carrying different navigation instructions matching the location of the target 180.
  • Figs. 2A and 2B, and Figs. 2C and 2D exemplify illustratively, in a self explanatory manner, how changing/shifting the position of the pattern PT in the SLM 110 is used according to some embodiments of the present invention to compensate the unstable angular shifts (e.g. vibrations) of the optical axis OX (general light propagation axis) of the beam BL from its nominal position with shift angle ⁇ .
  • the same reference numerals are used in these figures to denote objects similar to those described above with reference to Fig. 1.
  • Figs. 2B and 2D are perspective views of a beam BL directed from the optical output 138 of system 100 to platform 170.
  • Figs. 2A and 2B correspond respectively to Figs. 2B and 2D, and show the patterns PT formed by the SLM 110 according to the present invention in cases where the optical axis OX is in its nominal position, and in case it deviates from its nominal position by the angle ⁇ .
  • the edges of the beam ILB impinging the SLM 110 are 5 illustrated on the SLM 100 in a dashed circular line. It should be noted that pixels of the SLM which are outside the pattern PT may be darkened/opaque so that no light from the beam IBL is emitted (they traverse the SLM) except for the light of the pattern PT. As illustrated in Fig. 2A, when the optical axis is in its nominal position, the controller may operate the SLM 110 to form the pattern PT at its center. Accordingly the pattern is
  • the controller 140 may operate the SLM
  • the pattern PT projected in this case towards the platform is not centered about the optical axis OX; however the shift Sft is selected such that the reference point CP in the pattern PT reaching towards the platform, maintains the same position as that of Fig. 2A. Accordingly the deviation
  • the platform 170 may be directed to the target 180 with lateral accuracy matching/corresponding to the lateral dimensions of the respective
  • the controller manipulates the size Sz of the captured pattern portion in accordance with the distance Z of the platform (e.g. in order to maintain the size Sz substantially constant as the platform pattern approaches the target, or even to reduce the size Sz when the platform approaches the target in order to improve guidance accuracy).
  • the controller 140 is adapted to obtain distance data indicative of a distance Z between the platform 170 and the system 100 (e.g.
  • adjusting the scale of the pattern PT may be achieved by carrying out one or both of the following operations:
  • the controller 140 may control the scale of the pattern by operating the beam collimator 132 to adjust the divergence angle a of the beam BL (e.g. setting the angle a to be about a ⁇ ArcTan(Sz/2Z));
  • controller 140 may operate the SLM 120
  • a scaling factor SF proportional to SF ⁇ l/(Z*Tan(a)) may be used.
  • the distance Z may be obtained by the controller 140 from the platform tracker 154 monitoring the platform's location and/or from any other suitable distance measurement system, such as known in the art laser based distance measurement modules (e.g. such as a laser range finder (LRF)).
  • LRF laser range finder
  • Figs. 2A and 2B, and Figs. 2E and 2E exemplify illustratively, in a self explanatory manner, how changing the scaling factor SF according to operation (ii) above, is used according to some embodiments of the present invention to adjust the size Sz of the pattern (and the sizes of the pattern portions/regions) perceived by the platform.
  • the size Sz may be adjusted by the controller in order to preserve the accuracy of the navigation (compensate for the changes in the size Sz resulting from the divergence a of the beam BL) or in order to improve navigation accuracy (reduce the pattern size Sz), as the platform approaches the target 180.
  • Figs. 2B and 2F are perspective views of a beam BL directed from the optical output 138 of system 100 to platform 170 where the platform is depicted at different, respectively relatively long and relatively short distances Z from optical output 138 of system 100.
  • Figs. 2A and 2E are illustrations of the SLM 110 with the patterns PT formed thereon, corresponding to the distances Z of the platform shown in the corresponding Figs. 2B and 2F. For clarity, the edges of the beam ILB impinging the SLM 110 are illustrated on the SLM 100 in dashed circular line. As shown in Figs.
  • the pattern PT in the SLM 110 is scaled down as compared to the pattern PT in Figs. 2E and 2F where the distance Z to platform 170 is shorter (and vice versa the pattern in the SLM 110 is called up as the platform 170 gets closer), so that the pattern PT reaching the platform has, in this example, substantially the same size Sz when reaching to the platform 170 located at various distances Z.
  • each of the pattern portions PPTi- PPT is modulated by a spatial and/or temporal code encoding data indicative of respective navigation instructions to navigate a platform 170 exposed thereto towards the target 180.
  • spatial modulation in each of the pattern portions PPTi- PPT n to at least partially encode therein their respective navigation instructions.
  • the respective region (for example R2) each corresponding pattern portion (e.g. PPT 2 ) is spatially modulated and thus divided into a plurality of smaller sub-zones (not specifically shown in the figure) in which bits of the information (navigation instructions) of the pattern portion PPT 2 are encoded.
  • the lateral dimensions W of each of the pattern portions PPTi- PPT project should be typically much larger than the dimensions of the sensor, therefore in cases where spatial modulation is used in the pattern portions, it is incorporated cyclically/repeatedly, so that the sensor can decode the information encoded in the pattern portion even when it sees only a spatial fraction of the pattern portion.
  • the sensors detect an edge/boundary between two or more pattern portions (e.g. the boundary between PPT 2 and PPT 3 it may sense sub-zones from the two or more pattern portions and therefore misinterpret the encoded information.
  • improved reliability and accuracy of the navigation is obtained by using purely temporal modulation/data (with no spatial light structure) in the regions Ri- R shadow encoding in each of the pattern portions PPTi- PPT place (and/or possibly by using combined temporal and spatial encoding with relatively large sizes of the spatial sub-zone of the spatial encoding, e.g. such that only a few such zones can fit and be simultaneously captured by the sensor).
  • each of the regions Ri- R flesh of the pattern portions PPTi- PPT project substantially spatially homogeneous light intensity.
  • the controller 140 is adapted to operate the SLM 120 to define spatiotemporal light pattern PT encoding navigation information in the beam BL.
  • the spatiotemporal light pattern includes spatial light pattern defining a plurality of spatially distributed cross-sectional regions Rr R n within a cross-section of the light beam BL.
  • Each cross-sectional region of the regions Ri- R restroom is associated with a respective one of the pattern portions PPTi- PPT disregard, and encodes different navigation instructions, via a temporal pattern/modulation of the light therein (e.g. while the light in the region is substantially homogeneous).
  • the temporal patterns/modulations in the respective regions Ri- R n are distinguishable patterns encoding different instructions.
  • the temporal patterns may be formed by operating the SLM 120 to temporally modulate the light intensities in these regions Ri- R administrat in accordance with the navigation data/instructions to be encoded in each region.
  • the distinguishable temporal light patterns may be respectively indicative of locations LD of the cross-sectional regions associated therewith Ri- R relieve, with respect to the cross-section of the light beam (e.g. with respect to the reference position CP).
  • This provides reliable encoding and decoding of the guidance information in the beam BL which is less susceptible to un- stabilized movements of the pattern PT (such un-stabilized movement may be a residual un-stabilized motion of the spatial pattern in the beam which may remain even after the beam/pattern are stabilized mechanically by gimbals and/or digitally by properly operating the SLM).
  • the temporal patterns/modulations of the spatiotemporal pattern are transmitted repeatedly (e.g. periodically/cyclically) in each of their respective regions Ri- R restroom, such that the sensor 172 can quickly detect them at any time.
  • the time duration/period of the temporal modulation patterns formed in the pattern portions PPTi- PPT lake e.g. the maximal durations
  • the time duration/period of the temporal modulation should preferably be shorter than characteristic/minimal time between stabilization updates which are used by the controller 140 to stabilize the pattern (by operating the SLM to adjust its lateral position in the beam), so that in between consecutive stabilization
  • the sensor 172 of the detection module 170 can identify the temporal light pattern to which it exposed.
  • Figs. 3A and 3B exemplifying two possible spatiotemporal patterns/modulations of the beam LB, which can be used according to some embodiments of the present invention to navigate a platform 170 towards a target
  • the pattern is spatially divided into eight cross-sectional regions Rr R 8 in the beam BL defining eight respective pattern portions PPTj-PPTg.
  • Fig. 3A is an example of a spatiotemporal pattern PT having one spatial dimension (the regions Rr R 8 are distributed in one dimension of the pattern PT) which is usable for navigating the platform motion on a two dimensional surface (e.g. navigating land
  • Fig. 3B is an example of a spatiotemporal pattern PT having two spatial dimensions which is usable for navigating the platform motion in three dimensional space (e.g. navigation aerial platforms).
  • the pattern portions PPTj-PPTg in the regions Ri- R 8 are distinct from each other and are defined by respectively different/distinguishable temporal modulations of the optical
  • the spatiotemporal pattern PT in this example is formed by three temporal frames FR1-FR3.
  • Each of the temporal frames shown in the figures depicts the spatial distribution of the regions Ri- R 8 in the pattern PT and their state (transparent/opaque lit/darkened in the SLM 110).
  • the controller 140 operates to the SLM 110 to present these frames in a sequence (the frames may or may
  • the SLM state in the regions Ri- R 8 in the frames are set such that distinctive temporal light patterns are formed in the regions Ri- Rs when these frames are sequentially presented by the SLM in the optical path of the beam BL.
  • the SLM is operated to form a binary light pattern with dark/opaque regions presenting for example bit up (binary 1) and lit regions presenting bit down (binary 0).
  • Log 2 (n) frames are required. It should be understood that other (e.g.
  • non-binary intensity modulation schemes may also be applicable in the present invention enabling to reduce the number of temporal frames needed to define a desired number of distinct regions.
  • optional initialization frames I_FR are provided at the starting of the temporal sequence to indicate the beginning of the temporal pattern/modulation to the guidance detection module 171 exposed to the beam BL.
  • the initialization frames are optional and are needed to distinguish between consecutively transmitted temporal pattern portions which are transmitted with short intervals between them.
  • the initialization frames may present a similar light pattern/state in each of the regions so that the guidance detection module 171 can identify them easily, disregarding to which region of the regions Rl- R 8 they are exposed to.
  • the initialization frames may actually include a plurality of predetermined initialization frames presented in a sequence defining an initialization code. The latter may optionally be encrypted to encrypt the guidance beam BL of the system 100.
  • Fig. 3C specifying and depicting in a self explanatory manner the temporal light sequences (modulation patterns) including the initialization frame/bit which are shown in each of the pattern portions PPTi-PPT 8 presented respectively in the spatial cross-sectional regions Ri-R 8 . Also, the interpretation of these temporal sequences into corresponding numerical binary codes indicative of the regions in which they are presented, are shown in the table.
  • the control unit may determine which region it sees (e.g. R 2 ) and thereby determine the correct navigation instructions towards the target 180.
  • At least parts of codes presented in the temporal modulation patterns/sequences of each of the pattern portions encode data indicative of the direction of the target 180 with respect to the platform 170.
  • this data may actually be indicative of the location of the cross-sectional regions Ri-R 8 at the respective temporal modulation patterns with respect to a certain reference location CP in the pattern PT (e.g. the center thereof).
  • other parts of the codes encode additional data associated with the guidance of the platform towards the target.
  • an additional data piece included/encoded in the code may be indicative of a degree of convergence of motion path of the platform 170 towards the target 180. That is, the code provides both the direction to the target 180 and also indicates how fast the platform should turn towards this direction. This allows navigating the platform 170 to the target 180 along non-linear paths (e.g. a parabolic path) which may be useful in some scenarios.
  • non-linear paths e.g. a parabolic path
  • the cross- section of the pattern PT in the light beam reaching the platform 170 is substantially larger than the dimensions of the platform. For example it may be one or two orders of magnitude larger than the lateral dimensions of the platform.
  • the pattern PT may be used to simultaneously guide the plurality of platforms towards the target 180.
  • the system 100 simultaneously guides the plurality of platforms, encoding the additional data piece indicative of a degree of convergence of motion path of the pattern portion encoding that data is useful as it enables to avoid collisions between the plurality of co-guided platforms approaching the target. This is because it permits directing the plurality of platforms with no linear/parabolic paths to the target, such that the pluralities of platforms meet only in the vicinity of the target.
  • the guidance detection module 171 which is mounted on the platform 170 as illustrated in Fig. 1, it includes the optical sensor 172 adapted to at least partially detect light from at least one cross-sectional region (e.g. ]3 ⁇ 4 of the light beam LB) and a control unit 174 which is connected to the sensor 172 and to the steering modules of the platform 170.
  • the control unit 174 is adapted to process the data/signals that are captured by the sensor 172 and to identify the respective pattern portion (e.g. the temporal modulation pattern of the pattern portion PPT 2 ) modulating the light in the region (e.g. R 2 ) to which the sensor is exposed.
  • the control unit 174 decodes the detected pattern portion PPT 2 to determine at least the direction of the target with respect to the platform and thereby determine the navigation instructions, and accordingly operate the steering modules of said platform to direct the platform towards the target. Since in certain embodiments pattern portions PPTi-PPT project are spatially homogenous temporal patterns (whose spatial dimension is larger relative to sensor of the platform 170), therefore the sensor 172 in such embodiments need not be able to discern spatial details and may therefore include even only one light sensitive pixel (indeed sensors with more pixels are still useable, and the additional pixels may provide failsafe redundancy).
  • the lateral dimensions of the light sensitive pixel of the sensor 172 are substantially smaller than lateral dimensions of each of the regions Ri-R n - Accordingly, the light sensitive pixel of the sensor sense the temporal light modulation pattern of substantially a single region. This enables determining the temporal light modulation pattern accurately and unambiguously.
  • the sensor's pixels are operated with integration time / a frame rate that is shorter (e.g. by one or more orders of magnitude) than the duration of the temporal modulation pattern.

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Abstract

La présente invention concerne un système de guidage permettant un guidage à distance d'une ou de plusieurs plates-formes distantes vers une destination cible. Le système de guidage comprend un module d'éclairage comprenant une source de lumière utilisable pour éclairer la plate-forme distante au moyen d'un faisceau, et un modulateur spatial de lumière (SLM) placé dans le trajet optique du faisceau de lumière émis à partir de la source de lumière. Le système de guidage comprend un dispositif de commande utilisable pour obtenir des données faisant état d'informations de guidage pour une navigation de la plate-forme distante vers la destination cible. Le dispositif de commande fait fonctionner le SLM de sorte à coder les informations de guidage dans le faisceau de lumière. Les informations de guidage peuvent être codées en motif de lumière comprenant au moins l'un des motifs suivants : un motif spatial de lumière formé dans une section transversale du faisceau de lumière, un motif temporel de lumière dans le faisceau de lumière, et un motif spatio-temporel de lumière. Les informations de guidage sont codées dans le faisceau de lumière de sorte que la plate-forme distante puisse naviguer vers la cible par détection d'au moins une région de section transversale du faisceau de lumière, par décodage d'une partie des informations de guidage codées dans la région de section transversale détectée et, ainsi, par détermination des instructions de guidage pour la navigation de la ou des plates-formes distantes vers la destination cible.
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EP3234492B1 (fr) 2019-01-30
WO2016098103A1 (fr) 2016-06-23
BR112017012602A2 (pt) 2018-01-16
SG11201704930QA (en) 2017-07-28
US20180245882A1 (en) 2018-08-30
US10677565B2 (en) 2020-06-09
IL236338B (en) 2018-12-31

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